Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network |
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Authors: | Alireza Tadayoni Wen-Fang Xie Brandon W Gordon |
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Affiliation: | (1) Department of Biomedical Engineering, The Catholic University of America, Washington DC, USA;(2) Center for Applied Biomechanics and Rehabilitation Research, National Rehabilitation Hospital, Washington DC, USA |
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Abstract: | In this paper, an adaptive controller with structurally dynamic wavelet network is developed for a harmonic drive subject
to parameter varying friction. The control architecture integrates a proportional controller, a feedback adaptive component
and sliding component to adaptively compensate for the friction to achieve accurate position tracking. Global asymptotic stability
of the algorithm is proved by using Lyapunov function. In parallel to the adaptive controller, a fuzzy reconfiguration scheme
is devised to change the structure of the network along with weights updating to improve the system tracking performance and
robustness. Experimental tests on a harmonic drive manipulator verify the effectiveness of the proposed control method. |
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Keywords: | |
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